yunhai/Steering_Wheel_Infatry
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修改伸缩（第一版）

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yunhai8432 2026-01-27 14:10:56 +08:00
parent 95fc143f17
commit 7a7e29cd7f
10 changed files with 9568 additions and 9636 deletions
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19055
MDK-ARM/JLinkLog.txt
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132
MDK-ARM/Steering Wheel_Infatry.uvguix.yunha
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MDK-ARM/Steering Wheel_Infatry.uvoptx
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@ -120,6 +120,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>???</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>

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MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf
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MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
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@ -37,7 +37,7 @@ Note: source file '..\User\task\ET16s.c' - object file renamed from 'Steering Wh
Note: source file '..\User\task\step_motor.c' - object file renamed from 'Steering Wheel_Infatry\step_motor.o' to 'Steering Wheel_Infatry\step_motor_1.o'.
Note: source file '..\User\task\vofa.c' - object file renamed from 'Steering Wheel_Infatry\vofa.o' to 'Steering Wheel_Infatry\vofa_1.o'.
Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
compiling chassis.c...
compiling config.c...
linking...
Program Size: Code=67504 RO-data=1720 RW-data=1224 ZI-data=119880
FromELF: creating hex file...

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MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
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@ -4348,10 +4348,10 @@
:100F90000C423C2DDB0FC9C01C4918210D306F12CB
:100FA000833A600120540102015A02085A03085A88
:100FB0000408540602025A07085A08085A09081A6F
:100FC0000507492A611A34BC3957320319CC29ACB8
:100FD0001AC004111D3F0306041729036113F930D9
:100FE000140829311B08710429421A39101A6504A2
:100FF0001ACD04692481294DB9B6313210000000A0
:100FC0000507492A615B3EC357320319CC29AC1A85
:100FD000C004111D3F0306041729036113F93014DF
:100FE0000829311B08710429421A39101A65041A9C
:100FF000CD04692481294DB9B631321000000000BA
:10100000022B073DFEF7BBB8DD098A3BDE7772BCD9
:10101000FC0D010800000000D1050020692F000828
:10102000752E0008712F000801000000AAAAAAAAC4

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MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [Steering Wheel_Infatry\Steering Wheel_Infatry.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image Steering Wheel_Infatry\Steering Wheel_Infatry.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Mon Jan 26 21:06:16 2026
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Tue Jan 27 14:10:26 2026
<BR><P>
<H3>Maximum Stack Usage = 464 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>

2
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep
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@ -2508,7 +2508,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x697729B3)
I (..\User\device\device.h)(0x697729B3)
F (..\User\module\config.c)(0x69776578)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/config.o" -MD)
F (..\User\module\config.c)(0x697856B4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/config.o" -MD)
I (..\User\component\user_math.h)(0x697729B3)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)

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MDK-ARM/Steering Wheel_Infatry/config.o
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User/module/config.c
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@ -28,7 +28,7 @@ Config_RobotParam_t robot_config = {
.motor_6020_param[1]={BSP_CAN_1,0x207,MOTOR_GM6020,false,false},
.motor_6020_param[2]={BSP_CAN_1,0x208,MOTOR_GM6020,false,false},
.motor_6020_param[3]={BSP_CAN_1,0x209,MOTOR_GM6020,false,false},
.chassis2006_setangle=45,
.chassis2006_setangle=-190,
.chassis_2006_angle_param={
.k=1.0f,
.p=1.0f,